2023-04-12 08:11:46 +00:00
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<joint name="camera_joint" type="fixed">
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<parent link="chassis"/>
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<child link="camera_link"/>
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2023-09-06 07:26:51 +00:00
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<origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/>
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2023-04-12 08:11:46 +00:00
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</joint>
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<link name="camera_link">
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<visual>
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<geometry>
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<box size="0.010 0.03 0.03"/>
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</geometry>
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<material name="black"/>
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</visual>
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<visual>
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<origin xyz="0 0 -0.05"/>
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<geometry>
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<cylinder radius="0.002" length="0.1"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="camera_optical_joint" type="fixed">
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<parent link="camera_link"/>
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<child link="camera_link_optical"/>
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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</joint>
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<link name="camera_link_optical"></link>
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<gazebo reference="camera_link">
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<material>Gazebo/Black</material>
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<sensor name="camera" type="camera">
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<pose> 0 0 0 0 0 0 </pose>
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<visualize>true</visualize>
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<update_rate>10</update_rate>
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<camera>
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<horizontal_fov>1.089</horizontal_fov>
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<image>
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<format>R8G8B8</format>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.05</near>
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<far>8.0</far>
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</clip>
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</camera>
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<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
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<frame_name>camera_link_optical</frame_name>
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</plugin>
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</sensor>
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</gazebo>
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</robot>
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